Merge branch 'mueller/cmd-executor' into mueller/master

Reviewed-on: #23

hal/src/fsfw_hal/common/gpio/gpioDefinitions.h

@@ -9,12 +9,13 @@ using gpioId_t = uint16_t;
 
 namespace gpio {
 
-enum Levels {
+enum Levels: uint8_t {
     LOW = 0,
-    HIGH = 1
+    HIGH = 1,
+    NONE = 99
 };
 
-enum Direction {
+enum Direction: uint8_t {
     IN = 0,
     OUT = 1
 };
@@ -24,16 +25,18 @@ enum GpioOperation {
     WRITE
 };
 
-enum GpioTypes {
+enum class GpioTypes {
     NONE,
     GPIO_REGULAR_BY_CHIP,
     GPIO_REGULAR_BY_LABEL,
+    GPIO_REGULAR_BY_LINE_NAME,
     CALLBACK
 };
 
 static constexpr gpioId_t NO_GPIO = -1;
 
-using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, int value, void* args);
+using gpio_cb_t = void (*) (gpioId_t gpioId, gpio::GpioOperation gpioOp, gpio::Levels value,
+        void* args);
 
 }
 
@@ -57,7 +60,7 @@ public:
     GpioBase() = default;
 
     GpioBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue):
+            gpio::Levels initValue):
             gpioType(gpioType), consumer(consumer),direction(direction), initValue(initValue) {}
 
     virtual~ GpioBase() {};
@@ -66,15 +69,21 @@ public:
     gpio::GpioTypes gpioType = gpio::GpioTypes::NONE;
     std::string consumer;
     gpio::Direction direction = gpio::Direction::IN;
-    int initValue = 0;
+    gpio::Levels initValue = gpio::Levels::NONE;
 };
 
 class GpiodRegularBase: public GpioBase {
 public:
     GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
-            int initValue, int lineNum): GpioBase(gpioType, consumer, direction, initValue),
+            gpio::Levels initValue, int lineNum):
-            lineNum(lineNum) {
+            GpioBase(gpioType, consumer, direction, initValue), lineNum(lineNum) {
     }
+
+    // line number will be configured at a later point for the open by line name configuration
+    GpiodRegularBase(gpio::GpioTypes gpioType, std::string consumer, gpio::Direction direction,
+            gpio::Levels initValue): GpioBase(gpioType, consumer, direction, initValue) {
+    }
+
     int lineNum = 0;
     struct gpiod_line* lineHandle = nullptr;
 };
@@ -87,7 +96,7 @@ public:
     }
 
     GpiodRegularByChip(std::string chipname_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
+            gpio::Direction direction_, gpio::Levels initValue_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP,
                     consumer_, direction_, initValue_, lineNum_),
             chipname(chipname_){
@@ -105,7 +114,7 @@ public:
 class GpiodRegularByLabel: public GpiodRegularBase {
 public:
     GpiodRegularByLabel(std::string label_, int lineNum_, std::string consumer_,
-            gpio::Direction direction_, int initValue_) :
+            gpio::Direction direction_, gpio::Levels initValue_) :
             GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL, consumer_,
                     direction_, initValue_, lineNum_),
             label(label_) {
@@ -120,9 +129,30 @@ public:
     std::string label;
 };
 
+/**
+ * @brief   Passing this GPIO configuration to the GPIO IF object will try to open the GPIO by its
+ *          line name. This line name can be set in the device tree and must be unique. Otherwise
+ *          the driver will open the first line with the given name.
+ */
+class GpiodRegularByLineName: public GpiodRegularBase {
+public:
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_, gpio::Direction direction_,
+            gpio::Levels initValue_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_, direction_,
+                    initValue_), lineName(lineName_) {
+    }
+
+    GpiodRegularByLineName(std::string lineName_, std::string consumer_) :
+            GpiodRegularBase(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME, consumer_,
+                    gpio::Direction::IN, gpio::LOW), lineName(lineName_) {
+    }
+
+    std::string lineName;
+};
+
 class GpioCallback: public GpioBase {
 public:
-    GpioCallback(std::string consumer, gpio::Direction direction_, int initValue_,
+    GpioCallback(std::string consumer, gpio::Direction direction_, gpio::Levels initValue_,
             gpio::gpio_cb_t callback, void* callbackArgs):
             GpioBase(gpio::GpioTypes::CALLBACK, consumer, direction_, initValue_),
             callback(callback), callbackArgs(callbackArgs) {}

hal/src/fsfw_hal/devicehandlers/MgmLIS3MDLHandler.cpp

@@ -73,7 +73,7 @@ ReturnValue_t MgmLIS3MDLHandler::buildTransitionDeviceCommand(
     switch (internalState) {
     case(InternalState::STATE_NONE):
     case(InternalState::STATE_NORMAL): {
-        return HasReturnvaluesIF::RETURN_OK;
+        return DeviceHandlerBase::NOTHING_TO_SEND;
     }
     case(InternalState::STATE_FIRST_CONTACT): {
         *id = MGMLIS3MDL::IDENTIFY_DEVICE;

hal/src/fsfw_hal/linux/CMakeLists.txt

@@ -4,6 +4,7 @@ endif()
 
 target_sources(${LIB_FSFW_NAME} PRIVATE
 	UnixFileGuard.cpp
+	CommandExecutor.cpp
 	utility.cpp
 )
 

hal/src/fsfw_hal/linux/CommandExecutor.cpp

@@ -0,0 +1,210 @@
+#include "CommandExecutor.h"
+
+#include "fsfw/serviceinterface.h"
+#include "fsfw/container/SimpleRingBuffer.h"
+#include "fsfw/container/DynamicFIFO.h"
+
+#include <unistd.h>
+
+#include <cstring>
+
+CommandExecutor::CommandExecutor(const size_t maxSize):
+readVec(maxSize) {
+    waiter.events = POLLIN;
+}
+
+ReturnValue_t CommandExecutor::load(std::string command, bool blocking, bool printOutput) {
+    if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+
+    currentCmd = command;
+    this->blocking = blocking;
+    this->printOutput = printOutput;
+    if(state == States::IDLE) {
+        state = States::COMMAND_LOADED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::execute() {
+    if(state == States::IDLE) {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    else if(state == States::PENDING) {
+        return COMMAND_PENDING;
+    }
+    currentCmdFile = popen(currentCmd.c_str(), "r");
+    if(currentCmdFile == nullptr) {
+        lastError = errno;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    if(blocking) {
+        return executeBlocking();
+    }
+    else {
+        currentFd = fileno(currentCmdFile);
+        waiter.fd = currentFd;
+    }
+    state = States::PENDING;
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+ReturnValue_t CommandExecutor::close() {
+    if(state == States::PENDING) {
+        // Attempt to close process, irrespective of if it is running or not
+        if(currentCmdFile != nullptr) {
+            pclose(currentCmdFile);
+        }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::printLastError(std::string funcName) const {
+    if(lastError != 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << funcName << " pclose failed with code " << lastError << ": " <<
+                strerror(lastError) << std::endl;
+#else
+        sif::printError("%s pclose failed with code %d: %s\n",
+                funcName, lastError, strerror(lastError));
+#endif
+    }
+}
+
+void CommandExecutor::setRingBuffer(SimpleRingBuffer *ringBuffer,
+        DynamicFIFO<uint16_t>* sizesFifo) {
+    this->ringBuffer = ringBuffer;
+    this->sizesFifo = sizesFifo;
+}
+
+ReturnValue_t CommandExecutor::check(bool& bytesRead) {
+    if(blocking) {
+        return HasReturnvaluesIF::RETURN_OK;
+    }
+    switch(state) {
+    case(States::IDLE):
+    case(States::COMMAND_LOADED): {
+        return NO_COMMAND_LOADED_OR_PENDING;
+    }
+    case(States::PENDING): {
+        break;
+    }
+    }
+
+    int result = poll(&waiter, 1, 0);
+    switch(result) {
+    case(0): {
+        return HasReturnvaluesIF::RETURN_OK;
+        break;
+    }
+    case(1): {
+        if (waiter.revents & POLLIN) {
+            ssize_t readBytes = read(currentFd, readVec.data(), readVec.size());
+            if(readBytes == 0) {
+                // Should not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: No bytes read "
+                        "after poll event.." << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: No bytes read after poll event..\n");
+#endif
+                break;
+            }
+            else if(readBytes > 0) {
+                bytesRead = true;
+                if(printOutput) {
+                    // It is assumed the command output is line terminated
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                    sif::info << currentCmd << " | " << readVec.data();
+#else
+                    sif::printInfo("%s | %s", currentCmd, readVec.data());
+#endif
+                }
+                if(ringBuffer != nullptr) {
+                    ringBuffer->writeData(reinterpret_cast<const uint8_t*>(
+                            readVec.data()), readBytes);
+                }
+                if(sizesFifo != nullptr) {
+                    if(not sizesFifo->full()) {
+                        sizesFifo->insert(readBytes);
+                    }
+                }
+                return BYTES_READ;
+            }
+            else {
+                // Should also not happen
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+                sif::warning << "CommandExecutor::check: Error " << errno << ": " <<
+                        strerror(errno) << std::endl;
+#else
+                sif::printWarning("CommandExecutor::check: Error %d: %s\n", errno, strerror(errno));
+#endif
+            }
+        }
+        else if(waiter.revents & POLLERR) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "CommandExecuter::check: Poll error" << std::endl;
+#else
+            sif::printWarning("CommandExecuter::check: Poll error\n");
+#endif
+            return COMMAND_ERROR;
+        }
+        else if(waiter.revents & POLLHUP) {
+            int result = pclose(currentCmdFile);
+            if(result != 0) {
+                lastError = result;
+                return HasReturnvaluesIF::RETURN_FAILED;
+            }
+            state = States::IDLE;
+            currentCmdFile = nullptr;
+            currentFd = 0;
+            return EXECUTION_FINISHED;
+        }
+        break;
+    }
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}
+
+void CommandExecutor::reset() {
+    CommandExecutor::close();
+    currentCmdFile = nullptr;
+    currentFd = 0;
+    state = States::IDLE;
+}
+
+int CommandExecutor::getLastError() const {
+    return this->lastError;
+}
+
+CommandExecutor::States CommandExecutor::getCurrentState() const {
+    return state;
+}
+
+ReturnValue_t CommandExecutor::executeBlocking() {
+    while(fgets(readVec.data(), readVec.size(), currentCmdFile) != nullptr) {
+        std::string output(readVec.data());
+        if(printOutput) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << currentCmd << " | " << output;
+#else
+            sif::printInfo("%s | %s", currentCmd, output);
+#endif
+        }
+        if(ringBuffer != nullptr) {
+            ringBuffer->writeData(reinterpret_cast<const uint8_t*>(output.data()), output.size());
+        }
+        if(sizesFifo != nullptr) {
+            if(not sizesFifo->full()) {
+                sizesFifo->insert(output.size());
+            }
+        }
+    }
+    int result = pclose(currentCmdFile);
+    if(result != 0) {
+        lastError = result;
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    return HasReturnvaluesIF::RETURN_OK;
+}

hal/src/fsfw_hal/linux/CommandExecutor.h

@@ -0,0 +1,134 @@
+#ifndef FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+#define FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_
+
+#include "fsfw/returnvalues/HasReturnvaluesIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <poll.h>
+
+#include <string>
+#include <vector>
+
+class SimpleRingBuffer;
+template <typename T> class DynamicFIFO;
+
+/**
+ * @brief   Helper class to execute shell commands in blocking and non-blocking mode
+ * @details
+ * This class is able to execute processes by using the Linux popen call. It also has the
+ * capability of writing the read output of a process into a provided ring buffer.
+ *
+ * The executor works by first loading the command which should be executed and specifying
+ * whether it should be executed blocking or non-blocking. After that, execution can be started
+ * with the execute command. In blocking mode, the execute command will block until the command
+ * has finished
+ */
+class CommandExecutor {
+public:
+    enum class States {
+        IDLE,
+        COMMAND_LOADED,
+        PENDING
+    };
+
+    static constexpr uint8_t CLASS_ID = CLASS_ID::LINUX_OSAL;
+
+    //! [EXPORT] : [COMMENT] Execution of the current command has finished
+    static constexpr ReturnValue_t EXECUTION_FINISHED =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 0);
+
+    //! [EXPORT] : [COMMENT] Command is pending. This will also be returned if the user tries
+    //! to load another command but a command is still pending
+    static constexpr ReturnValue_t COMMAND_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 1);
+    //! [EXPORT] : [COMMENT] Some bytes have been read from the executing process
+    static constexpr ReturnValue_t BYTES_READ =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 2);
+    //! [EXPORT] : [COMMENT] Command execution failed
+    static constexpr ReturnValue_t COMMAND_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 3);
+    //! [EXPORT] : [COMMENT]
+    static constexpr ReturnValue_t NO_COMMAND_LOADED_OR_PENDING =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 4);
+    static constexpr ReturnValue_t PCLOSE_CALL_ERROR =
+            HasReturnvaluesIF::makeReturnCode(CLASS_ID, 6);
+
+    /**
+     * Constructor. Is initialized with maximum size of internal buffer to read data from the
+     * executed process.
+     * @param maxSize
+     */
+    CommandExecutor(const size_t maxSize);
+
+    /**
+     * Load a new command which should be executed
+     * @param command
+     * @param blocking
+     * @param printOutput
+     * @return
+     */
+    ReturnValue_t load(std::string command, bool blocking, bool printOutput = true);
+    /**
+     * Execute the loaded command.
+     * @return
+     *  - In blocking mode, it will return RETURN_FAILED if
+     *    the result of the system call was not 0. The error value can be accessed using
+     *    getLastError
+     *  - In non-blocking mode, this call will start
+     *    the execution and then return RETURN_OK
+     */
+    ReturnValue_t execute();
+    /**
+     * Only used in non-blocking mode. Checks the currently running command.
+     * @param bytesRead Will be set to the number of bytes read, if bytes have been read
+     * @return
+     *  - BYTES_READ if bytes have been read from the executing process. It is recommended to call
+     *    check again after this
+     *  - RETURN_OK execution is pending, but no bytes have been read from the executing process
+     *  - RETURN_FAILED if execution has failed, error value can be accessed using getLastError
+     *  - EXECUTION_FINISHED if the process was executed successfully
+     *  - COMMAND_ERROR internal poll error
+     */
+    ReturnValue_t check(bool& bytesRead);
+    /**
+     * Abort the current command. Should normally not be necessary, check can be used to find
+     * out whether command execution was successful
+     * @return RETURN_OK
+     */
+    ReturnValue_t close();
+
+    States getCurrentState() const;
+    int getLastError() const;
+    void printLastError(std::string funcName) const;
+
+    /**
+     * Assign a ring buffer and a FIFO which will be filled by the executor with the output
+     * read from the started process
+     * @param ringBuffer
+     * @param sizesFifo
+     */
+    void setRingBuffer(SimpleRingBuffer* ringBuffer, DynamicFIFO<uint16_t>* sizesFifo);
+
+    /**
+     * Reset the executor. This calls close internally and then reset the state machine so new
+     * commands can be loaded and executed
+     */
+    void reset();
+private:
+    std::string currentCmd;
+    bool blocking = true;
+    FILE* currentCmdFile = nullptr;
+    int currentFd = 0;
+    bool printOutput = true;
+    std::vector<char> readVec;
+    struct pollfd waiter {};
+    SimpleRingBuffer* ringBuffer = nullptr;
+    DynamicFIFO<uint16_t>* sizesFifo = nullptr;
+
+    States state = States::IDLE;
+    int lastError = 0;
+
+    ReturnValue_t executeBlocking();
+};
+
+#endif /* FSFW_SRC_FSFW_OSAL_LINUX_COMMANDEXECUTOR_H_ */

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.cpp

@@ -1,8 +1,9 @@
-#include "fsfw_hal/linux/gpio/LinuxLibgpioIF.h"
+#include "LinuxLibgpioIF.h"
+
 #include "fsfw_hal/common/gpio/gpioDefinitions.h"
 #include "fsfw_hal/common/gpio/GpioCookie.h"
 
-#include <fsfw/serviceinterface/ServiceInterface.h>
+#include "fsfw/serviceinterface/ServiceInterface.h"
 
 #include <utility>
 #include <unistd.h>
@@ -66,6 +67,14 @@ ReturnValue_t LinuxLibgpioIF::configureGpios(GpioMap& mapToAdd) {
             configureGpioByLabel(gpioConfig.first, *regularGpio);
             break;
         }
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME):{
+            auto regularGpio = dynamic_cast<GpiodRegularByLineName*>(gpioConfig.second);
+            if(regularGpio == nullptr) {
+                return GPIO_INVALID_INSTANCE;
+            }
+            configureGpioByLineName(gpioConfig.first, *regularGpio);
+            break;
+        }
         case(gpio::GpioTypes::CALLBACK): {
             auto gpioCallback = dynamic_cast<GpioCallback*>(gpioConfig.second);
             if(gpioCallback->callback == nullptr) {
@@ -84,13 +93,13 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByLabel(gpioId_t gpioId,
     std::string& label = gpioByLabel.label;
     struct gpiod_chip* chip = gpiod_chip_open_by_label(label.c_str());
     if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open gpio from gpio "
+        sif::warning << "LinuxLibgpioIF::configureGpioByLabel: Failed to open gpio from gpio "
                 << "group with label " << label << ". Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
 
     }
     std::string failOutput = "label: " + label;
-    return configureRegularGpio(gpioId, gpioByLabel.gpioType, chip, gpioByLabel, failOutput);
+    return configureRegularGpio(gpioId, chip, gpioByLabel, failOutput);
 }
 
 ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
@@ -98,16 +107,41 @@ ReturnValue_t LinuxLibgpioIF::configureGpioByChip(gpioId_t gpioId,
     std::string& chipname = gpioByChip.chipname;
     struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname.c_str());
     if (chip == nullptr) {
-        sif::warning << "LinuxLibgpioIF::configureRegularGpio: Failed to open chip "
+        sif::warning << "LinuxLibgpioIF::configureGpioByChip: Failed to open chip "
                 << chipname << ". Gpio ID: " << gpioId << std::endl;
         return RETURN_FAILED;
     }
     std::string failOutput = "chipname: " + chipname;
-    return configureRegularGpio(gpioId, gpioByChip.gpioType, chip, gpioByChip, failOutput);
+    return configureRegularGpio(gpioId, chip, gpioByChip, failOutput);
 }
 
-ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+ReturnValue_t LinuxLibgpioIF::configureGpioByLineName(gpioId_t gpioId,
-        struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput) {
+        GpiodRegularByLineName &gpioByLineName) {
+    std::string& lineName = gpioByLineName.lineName;
+    char chipname[MAX_CHIPNAME_LENGTH];
+    unsigned int lineOffset;
+
+    int result = gpiod_ctxless_find_line(lineName.c_str(), chipname, MAX_CHIPNAME_LENGTH,
+            &lineOffset);
+    if (result != LINE_FOUND) {
+        parseFindeLineResult(result, lineName);
+        return RETURN_FAILED;
+    }
+
+    gpioByLineName.lineNum = static_cast<int>(lineOffset);
+
+    struct gpiod_chip* chip = gpiod_chip_open_by_name(chipname);
+    if (chip == nullptr) {
+        sif::warning << "LinuxLibgpioIF::configureGpioByLineName: Failed to open chip "
+                << chipname << ". <Gpio ID: " << gpioId << std::endl;
+        return RETURN_FAILED;
+    }
+    std::string failOutput = "line name: " + lineName;
+    return configureRegularGpio(gpioId, chip, gpioByLineName, failOutput);
+}
+
+ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+        GpiodRegularBase& regularGpio, std::string failOutput) {
     unsigned int lineNum;
     gpio::Direction direction;
     std::string consumer;
@@ -132,22 +166,10 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
     case(gpio::OUT): {
         result = gpiod_line_request_output(lineHandle, consumer.c_str(),
                 regularGpio.initValue);
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " << lineNum <<
-                    " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
         break;
     }
     case(gpio::IN): {
         result = gpiod_line_request_input(lineHandle, consumer.c_str());
-        if (result < 0) {
-            sif::error << "LinuxLibgpioIF::configureGpios: Failed to request line "
-                    << lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
-            gpiod_line_release(lineHandle);
-            return RETURN_FAILED;
-        }
         break;
     }
     default: {
@@ -156,6 +178,18 @@ ReturnValue_t LinuxLibgpioIF::configureRegularGpio(gpioId_t gpioId, gpio::GpioTy
         return GPIO_INVALID_INSTANCE;
     }
 
+    if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::error << "LinuxLibgpioIF::configureRegularGpio: Failed to request line " <<
+                lineNum << " from GPIO instance with ID: " << gpioId << std::endl;
+#else
+        sif::printError("LinuxLibgpioIF::configureRegularGpio: "
+                "Failed to request line %d from GPIO instance with ID: %d\n", lineNum, gpioId);
+#endif
+        gpiod_line_release(lineHandle);
+        return RETURN_FAILED;
+    }
+
     }
     /**
      * Write line handle to GPIO configuration instance so it can later be used to set or
@@ -173,8 +207,9 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
     }
 
     auto gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
         auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
@@ -187,7 +222,7 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
             return GPIO_INVALID_INSTANCE;
         }
         gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                1, gpioCallback->callbackArgs);
+                gpio::Levels::HIGH, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
@@ -196,13 +231,18 @@ ReturnValue_t LinuxLibgpioIF::pullHigh(gpioId_t gpioId) {
 ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::pullLow: Unknown GPIO ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::pullLow: Unknown GPIO ID %d\n", gpioId);
+#endif
         return UNKNOWN_GPIO_ID;
     }
 
     auto& gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
         auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
@@ -215,7 +255,7 @@ ReturnValue_t LinuxLibgpioIF::pullLow(gpioId_t gpioId) {
             return GPIO_INVALID_INSTANCE;
         }
         gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::WRITE,
-                0, gpioCallback->callbackArgs);
+                gpio::Levels::LOW, gpioCallback->callbackArgs);
         return RETURN_OK;
     }
     return GPIO_TYPE_FAILURE;
@@ -225,8 +265,13 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
         GpiodRegularBase& regularGpio, gpio::Levels logicLevel) {
     int result = gpiod_line_set_value(regularGpio.lineHandle, logicLevel);
     if (result < 0) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID " << gpioId <<
                 " to logic level " << logicLevel << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::driveGpio: Failed to pull GPIO with ID %d to "
+                "logic level %d\n", gpioId, logicLevel);
+#endif
         return DRIVE_GPIO_FAILURE;
     }
 
@@ -236,12 +281,18 @@ ReturnValue_t LinuxLibgpioIF::driveGpio(gpioId_t gpioId,
 ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
     gpioMapIter = gpioMap.find(gpioId);
     if (gpioMapIter == gpioMap.end()){
+#if FSFW_CPP_OSTREAM_ENABLED == 1
         sif::warning << "LinuxLibgpioIF::readGpio: Unknown GPIOD ID " << gpioId << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::readGpio: Unknown GPIOD ID %d\n", gpioId);
+#endif
         return UNKNOWN_GPIO_ID;
     }
+
     auto gpioType = gpioMapIter->second->gpioType;
-    if(gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP or
+    if (gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_CHIP
-            gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LABEL
+            or gpioType == gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME) {
         auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
         if(regularGpio == nullptr) {
             return GPIO_TYPE_FAILURE;
@@ -249,10 +300,14 @@ ReturnValue_t LinuxLibgpioIF::readGpio(gpioId_t gpioId, int* gpioState) {
         *gpioState = gpiod_line_get_value(regularGpio->lineHandle);
     }
     else {
-
+        auto gpioCallback = dynamic_cast<GpioCallback*>(gpioMapIter->second);
+        if(gpioCallback->callback == nullptr) {
+            return GPIO_INVALID_INSTANCE;
+        }
+        gpioCallback->callback(gpioMapIter->first, gpio::GpioOperation::READ,
+                gpio::Levels::NONE, gpioCallback->callbackArgs);
+        return RETURN_OK;
     }
-
-
     return RETURN_OK;
 }
 
@@ -262,13 +317,14 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
     for(auto& gpioConfig: mapToAdd) {
         switch(gpioConfig.second->gpioType) {
         case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL): {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
             auto regularGpio = dynamic_cast<GpiodRegularBase*>(gpioConfig.second);
             if(regularGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
-            /* Check for conflicts and remove duplicates if necessary */
+            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsRegularGpio(gpioConfig.first, *regularGpio, mapToAdd);
+            result = checkForConflictsById(gpioConfig.first, gpioConfig.second->gpioType, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
@@ -279,66 +335,108 @@ ReturnValue_t LinuxLibgpioIF::checkForConflicts(GpioMap& mapToAdd){
             if(callbackGpio == nullptr)  {
                 return GPIO_TYPE_FAILURE;
             }
-            /* Check for conflicts and remove duplicates if necessary */
+            // Check for conflicts and remove duplicates if necessary
-            result = checkForConflictsCallbackGpio(gpioConfig.first, callbackGpio, mapToAdd);
+            result = checkForConflictsById(gpioConfig.first,
+                    gpioConfig.second->gpioType, mapToAdd);
             if(result != HasReturnvaluesIF::RETURN_OK) {
                 status = result;
             }
             break;
         }
         default: {
-
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "Invalid GPIO type detected for GPIO ID " << gpioConfig.first
+                    << std::endl;
+#else
+            sif::printWarning("Invalid GPIO type detected for GPIO ID %d\n", gpioConfig.first);
+#endif
+            status = GPIO_TYPE_FAILURE;
         }
         }
     }
     return status;
 }
 
-
+ReturnValue_t LinuxLibgpioIF::checkForConflictsById(gpioId_t gpioIdToCheck,
-ReturnValue_t LinuxLibgpioIF::checkForConflictsRegularGpio(gpioId_t gpioIdToCheck,
+        gpio::GpioTypes expectedType, GpioMap& mapToAdd) {
-        GpiodRegularBase& gpioToCheck, GpioMap& mapToAdd) {
+    // Cross check with private map
-    /* Cross check with private map */
     gpioMapIter = gpioMap.find(gpioIdToCheck);
     if(gpioMapIter != gpioMap.end()) {
         auto& gpioType = gpioMapIter->second->gpioType;
-        if(gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_CHIP and
+        bool eraseDuplicateDifferentType = false;
-                gpioType != gpio::GpioTypes::GPIO_REGULAR_BY_LABEL) {
+        switch(expectedType) {
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+        case(gpio::GpioTypes::NONE): {
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+            break;
-            mapToAdd.erase(gpioIdToCheck);
-            return HasReturnvaluesIF::RETURN_OK;
         }
-        auto ownRegularGpio = dynamic_cast<GpiodRegularBase*>(gpioMapIter->second);
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_CHIP):
-        if(ownRegularGpio == nullptr) {
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LABEL):
-            return GPIO_TYPE_FAILURE;
+        case(gpio::GpioTypes::GPIO_REGULAR_BY_LINE_NAME): {
+            if(gpioType == gpio::GpioTypes::NONE or gpioType == gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+            break;
+        }
+        case(gpio::GpioTypes::CALLBACK): {
+            if(gpioType != gpio::GpioTypes::CALLBACK) {
+                eraseDuplicateDifferentType = true;
+            }
+        }
+        }
+        if(eraseDuplicateDifferentType) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type " << gpioIdToCheck <<
+                    ". Removing duplicate from map to add" << std::endl;
+#else
+            sif::printWarning("LinuxLibgpioIF::checkForConflicts: ID already exists for "
+                    "different GPIO type %d. Removing duplicate from map to add\n", gpioIdToCheck);
+#endif
+            mapToAdd.erase(gpioIdToCheck);
+            return GPIO_DUPLICATE_DETECTED;
         }
 
-        /* Remove element from map to add because a entry for this GPIO
+        // Remove element from map to add because a entry for this GPIO already exists
-        already exists */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
+        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO "
-                << " detected. Duplicate will be removed from map to add." << std::endl;
+                "definition with ID " << gpioIdToCheck << " detected. " <<
+                "Duplicate will be removed from map to add" << std::endl;
+#else
+        sif::printWarning("LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition "
+                "with ID %d detected. Duplicate will be removed from map to add\n", gpioIdToCheck);
+#endif
         mapToAdd.erase(gpioIdToCheck);
+        return GPIO_DUPLICATE_DETECTED;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-ReturnValue_t LinuxLibgpioIF::checkForConflictsCallbackGpio(gpioId_t gpioIdToCheck,
+void LinuxLibgpioIF::parseFindeLineResult(int result, std::string& lineName) {
-        GpioCallback *callbackGpio, GpioMap& mapToAdd) {
+    switch (result) {
-    /* Cross check with private map */
+#if FSFW_CPP_OSTREAM_ENABLED == 1
-    gpioMapIter = gpioMap.find(gpioIdToCheck);
+    case LINE_NOT_EXISTS:
-    if(gpioMapIter != gpioMap.end()) {
+    case LINE_ERROR: {
-        if(gpioMapIter->second->gpioType != gpio::GpioTypes::CALLBACK) {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Line with name " << lineName <<
-            sif::warning << "LinuxLibgpioIF::checkForConflicts: ID already exists for different "
+                " does not exist" << std::endl;
-                    "GPIO type" << gpioIdToCheck << ". Removing duplicate." << std::endl;
+        break;
-            mapToAdd.erase(gpioIdToCheck);
+    }
-            return HasReturnvaluesIF::RETURN_OK;
+    default: {
+        sif::warning << "LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name " << lineName << std::endl;
+        break;
+    }
+#else
+    case LINE_NOT_EXISTS:
+    case LINE_ERROR: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Line with name %s "
+                "does not exist\n", lineName);
+        break;
+    }
+    default: {
+        sif::printWarning("LinuxLibgpioIF::parseFindeLineResult: Unknown return code for line "
+                "with name %s\n", lineName);
+        break;
+    }
+#endif
     }
 
-        /* Remove element from map to add because a entry for this GPIO
-        already exists */
-        sif::warning << "LinuxLibgpioIF::checkForConflictsRegularGpio: Duplicate GPIO definition"
-                << " detected. Duplicate will be removed from map to add." << std::endl;
-        mapToAdd.erase(gpioIdToCheck);
-    }
-    return HasReturnvaluesIF::RETURN_OK;
 }

hal/src/fsfw_hal/linux/gpio/LinuxLibgpioIF.h

@@ -1,19 +1,19 @@
 #ifndef LINUX_GPIO_LINUXLIBGPIOIF_H_
 #define LINUX_GPIO_LINUXLIBGPIOIF_H_
 
-#include "../../common/gpio/GpioIF.h"
+#include "fsfw/returnvalues/FwClassIds.h"
-#include <returnvalues/classIds.h>
+#include "fsfw_hal/common/gpio/GpioIF.h"
-#include <fsfw/objectmanager/SystemObject.h>
+#include "fsfw/objectmanager/SystemObject.h"
 
 class GpioCookie;
 class GpiodRegularIF;
 
 /**
- * @brief	This class implements the GpioIF for a linux based system. The
+ * @brief	This class implements the GpioIF for a linux based system.
- * 			implementation is based on the libgpiod lib which requires linux 4.8
+ * @details
- * 			or higher.
+ * This implementation is based on the libgpiod lib which requires Linux 4.8 or higher.
- * @note	The Petalinux SDK from Xilinx supports libgpiod since Petalinux
+ * @note
- * 			2019.1.
+ * The Petalinux SDK from Xilinx supports libgpiod since Petalinux 2019.1.
  */
 class LinuxLibgpioIF : public GpioIF, public SystemObject {
 public:
@@ -28,6 +28,8 @@ public:
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 3);
     static constexpr ReturnValue_t GPIO_INVALID_INSTANCE =
             HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 4);
+    static constexpr ReturnValue_t GPIO_DUPLICATE_DETECTED =
+            HasReturnvaluesIF::makeReturnCode(gpioRetvalId, 5);
 
 	LinuxLibgpioIF(object_id_t objectId);
 	virtual ~LinuxLibgpioIF();
@@ -38,7 +40,13 @@ public:
 	ReturnValue_t readGpio(gpioId_t gpioId, int* gpioState) override;
 
 private:
-	/* Holds the information and configuration of all used GPIOs */
+
+	static const size_t MAX_CHIPNAME_LENGTH = 11;
+	static const int LINE_NOT_EXISTS = 0;
+	static const int LINE_ERROR = -1;
+	static const int LINE_FOUND = 1;
+
+	// Holds the information and configuration of all used GPIOs
 	GpioUnorderedMap gpioMap;
 	GpioUnorderedMapIter gpioMapIter;
 
@@ -53,8 +61,10 @@ private:
 
 	ReturnValue_t configureGpioByLabel(gpioId_t gpioId, GpiodRegularByLabel& gpioByLabel);
 	ReturnValue_t configureGpioByChip(gpioId_t gpioId, GpiodRegularByChip& gpioByChip);
-    ReturnValue_t configureRegularGpio(gpioId_t gpioId, gpio::GpioTypes gpioType,
+    ReturnValue_t configureGpioByLineName(gpioId_t gpioId,
-            struct gpiod_chip* chip, GpiodRegularBase& regularGpio, std::string failOutput);
+            GpiodRegularByLineName &gpioByLineName);
+    ReturnValue_t configureRegularGpio(gpioId_t gpioId, struct gpiod_chip* chip,
+            GpiodRegularBase& regularGpio, std::string failOutput);
 
 	/**
 	 * @brief	This function checks if GPIOs are already registered and whether
@@ -67,9 +77,7 @@ private:
 	 */
 	ReturnValue_t checkForConflicts(GpioMap& mapToAdd);
 
-	ReturnValue_t checkForConflictsRegularGpio(gpioId_t gpiodId, GpiodRegularBase& regularGpio,
+	ReturnValue_t checkForConflictsById(gpioId_t gpiodId, gpio::GpioTypes type,
-	        GpioMap& mapToAdd);
-    ReturnValue_t checkForConflictsCallbackGpio(gpioId_t gpiodId, GpioCallback* regularGpio,
 	        GpioMap& mapToAdd);
 
 	/**
@@ -77,6 +85,7 @@ private:
 	 */
 	ReturnValue_t configureGpios(GpioMap& mapToAdd);
 
+	void parseFindeLineResult(int result, std::string& lineName);
 };
 
 #endif /* LINUX_GPIO_LINUXLIBGPIOIF_H_ */

src/fsfw/FSFW.h.in

@@ -18,6 +18,10 @@
 
 // FSFW core defines
 
+#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
+#define FSFW_TCP_RECV_WIRETAPPING_ENABLED   0
+#endif
+
 #ifndef FSFW_CPP_OSTREAM_ENABLED
 #define FSFW_CPP_OSTREAM_ENABLED            1
 #endif /* FSFW_CPP_OSTREAM_ENABLED */

src/fsfw/container/SimpleRingBuffer.h

@@ -5,8 +5,7 @@
 #include <cstddef>
 
 /**
- * @brief     Circular buffer implementation, useful for buffering
+ * @brief     Circular buffer implementation, useful for buffering into data streams.
- *          into data streams.
  * @details
  * Note that the deleteData() has to be called to increment the read pointer.
  * This class allocated dynamically, so
@@ -20,8 +19,8 @@ public:
      * @param size
      * @param overwriteOld If the ring buffer is overflowing at a write
      * operation, the oldest data will be overwritten.
-     * @param maxExcessBytes These additional bytes will be allocated in addtion
+     * @param maxExcessBytes These additional bytes will be allocated in addition
-     * to the specified size to accomodate contiguous write operations
+     * to the specified size to accommodate continuous write operations
      * with getFreeElement.
      *
      */
@@ -32,10 +31,10 @@ public:
      * @param buffer
      * @param size
      * @param overwriteOld
-     * If the ring buffer is overflowing at a write operartion, the oldest data
+     * If the ring buffer is overflowing at a write operation, the oldest data
      * will be overwritten.
      * @param maxExcessBytes
-     * If the buffer can accomodate additional bytes for contigous write
+     * If the buffer can accommodate additional bytes for contiguous write
      * operations with getFreeElement, this is the maximum allowed additional
      * size
      */
@@ -48,7 +47,7 @@ public:
      * Write to circular buffer and increment write pointer by amount.
      * @param data
      * @param amount
-     * @return -@c RETURN_OK if write operation was successfull
+     * @return -@c RETURN_OK if write operation was successful
      * -@c RETURN_FAILED if
      */
     ReturnValue_t writeData(const uint8_t* data, size_t amount);
@@ -108,7 +107,7 @@ public:
      * Delete data by incrementing read pointer.
      * @param amount
      * @param deleteRemaining
-     * If the amount specified is larger than the remaing size to read and this
+     * If the amount specified is larger than the remaining size to read and this
      * is set to true, the remaining amount will be deleted as well
      * @param trueAmount [out]
      * If deleteRemaining was set to true, the amount deleted will be assigned

src/fsfw/devicehandlers/AssemblyBase.h

@@ -7,7 +7,7 @@
 
 /**
  * @brief   Base class to implement reconfiguration and failure handling for
- *          redundant devices by monitoring their modes health states.
+ *          redundant devices by monitoring their modes and health states.
  * @details
  * Documentation: Dissertation Baetz p.156, 157.
  *

src/fsfw/devicehandlers/DeviceCommunicationIF.h

@@ -85,9 +85,10 @@ public:
 	 * Called by DHB in the GET_WRITE doGetWrite().
 	 * Get send confirmation that the data in sendMessage() was sent successfully.
 	 * @param cookie
-	 * @return - @c RETURN_OK if data was sent successfull
+	 * @return
-	 * 		   - Everything else triggers falure event with
+	 *  - @c RETURN_OK if data was sent successfully but a reply is expected
-	 * 		     returnvalue as parameter 1
+	 *  - NO_REPLY_EXPECTED if data was sent successfully and no reply is expected
+	 *  - Everything else to indicate failure
 	 */
 	virtual ReturnValue_t getSendSuccess(CookieIF *cookie) = 0;
 

src/fsfw/devicehandlers/DeviceHandlerBase.h

@@ -334,8 +334,7 @@ protected:
      *  - @c RETURN_OK to send command after #rawPacket and #rawPacketLen
      *       have been set.
      *  - @c HasActionsIF::EXECUTION_COMPLETE to generate a finish reply immediately. This can
-     *       be used if no reply is expected. Otherwise, the developer can call #actionHelper.finish
+     *       be used if no reply is expected
-     *       to finish the command handling.
      *  - Anything else triggers an event with the return code as a parameter as well as a
      *    step reply failed with the return code
      */

src/fsfw/devicehandlers/DeviceHandlerIF.h

@@ -120,7 +120,8 @@ public:
 	static const ReturnValue_t WRONG_MODE_FOR_COMMAND = MAKE_RETURN_CODE(0xA5);
 	static const ReturnValue_t TIMEOUT = MAKE_RETURN_CODE(0xA6);
 	static const ReturnValue_t BUSY = MAKE_RETURN_CODE(0xA7);
-	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8); //!< Used to indicate that this is a command-only command.
+	//!< Used to indicate that this is a command-only command.
+	static const ReturnValue_t NO_REPLY_EXPECTED = MAKE_RETURN_CODE(0xA8);
 	static const ReturnValue_t NON_OP_TEMPERATURE = MAKE_RETURN_CODE(0xA9);
 	static const ReturnValue_t COMMAND_NOT_IMPLEMENTED = MAKE_RETURN_CODE(0xAA);
 

src/fsfw/globalfunctions/PeriodicOperationDivider.cpp

@@ -7,14 +7,13 @@ PeriodicOperationDivider::PeriodicOperationDivider(uint32_t divider,
 }
 
 bool PeriodicOperationDivider::checkAndIncrement() {
+    counter++;
     bool opNecessary = check();
     if(opNecessary) {
         if(resetAutomatically) {
-			counter = 0;
+            resetCounter();
         }
-		return opNecessary;
     }
-	counter ++;
     return opNecessary;
 }
 

src/fsfw/memory/HasFileSystemIF.h

@@ -81,7 +81,7 @@ public:
 	 * @param args Any other arguments which an implementation might require
 	 * @return
 	 */
-	virtual ReturnValue_t deleteFile(const char* repositoryPath,
+	virtual ReturnValue_t removeFile(const char* repositoryPath,
 	        const char* filename, void* args = nullptr) = 0;
 
 	/**

src/fsfw/osal/common/TcpTmTcServer.cpp

@@ -1,13 +1,17 @@
-#include "fsfw/osal/common/TcpTmTcServer.h"
-#include "fsfw/osal/common/TcpTmTcBridge.h"
-#include "fsfw/osal/common/tcpipHelpers.h"
-
 #include "fsfw/platform.h"
+#include "fsfw/FSFW.h"
+
+#include "TcpTmTcServer.h"
+#include "TcpTmTcBridge.h"
+#include "tcpipHelpers.h"
+
+#include "fsfw/tmtcservices/SpacePacketParser.h"
+#include "fsfw/tasks/TaskFactory.h"
+#include "fsfw/globalfunctions/arrayprinter.h"
 #include "fsfw/container/SharedRingBuffer.h"
 #include "fsfw/ipc/MessageQueueSenderIF.h"
 #include "fsfw/ipc/MutexGuard.h"
 #include "fsfw/objectmanager/ObjectManager.h"
-
 #include "fsfw/serviceinterface/ServiceInterface.h"
 #include "fsfw/tmtcservices/TmTcMessage.h"
 
@@ -18,19 +22,14 @@
 #include <netdb.h>
 #endif
 
-#ifndef FSFW_TCP_RECV_WIRETAPPING_ENABLED
-#define FSFW_TCP_RECV_WIRETAPPING_ENABLED 0
-#endif
-
 const std::string TcpTmTcServer::DEFAULT_SERVER_PORT = tcpip::DEFAULT_SERVER_PORT;
 
 TcpTmTcServer::TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-        size_t receptionBufferSize, std::string customTcpServerPort):
+        size_t receptionBufferSize, size_t ringBufferSize, std::string customTcpServerPort,
-        SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge),
+        ReceptionModes receptionMode):
-        tcpPort(customTcpServerPort), receptionBuffer(receptionBufferSize) {
+        SystemObject(objectId), tmtcBridgeId(tmtcTcpBridge), receptionMode(receptionMode),
-    if(tcpPort == "") {
+        tcpConfig(customTcpServerPort), receptionBuffer(receptionBufferSize),
-        tcpPort = DEFAULT_SERVER_PORT;
+        ringBuffer(ringBufferSize, true) {
-    }
 }
 
 ReturnValue_t TcpTmTcServer::initialize() {
@@ -41,6 +40,17 @@ ReturnValue_t TcpTmTcServer::initialize() {
         return result;
     }
 
+    switch(receptionMode) {
+    case(ReceptionModes::SPACE_PACKETS): {
+        spacePacketParser = new SpacePacketParser(validPacketIds);
+        if(spacePacketParser == nullptr) {
+            return HasReturnvaluesIF::RETURN_FAILED;
+        }
+#if defined PLATFORM_UNIX
+        tcpConfig.tcpFlags |= MSG_DONTWAIT;
+#endif
+    }
+    }
     tcStore = ObjectManager::instance()->get<StorageManagerIF>(objects::TC_STORE);
     if (tcStore == nullptr) {
 #if FSFW_CPP_OSTREAM_ENABLED == 1
@@ -63,7 +73,7 @@ ReturnValue_t TcpTmTcServer::initialize() {
     hints.ai_flags = AI_PASSIVE;
 
     // Listen to all addresses (0.0.0.0) by using AI_PASSIVE in the hint flags
-    retval = getaddrinfo(nullptr, tcpPort.c_str(), &hints, &addrResult);
+    retval = getaddrinfo(nullptr, tcpConfig.tcpPort.c_str(), &hints, &addrResult);
     if (retval != 0) {
         handleError(Protocol::TCP, ErrorSources::GETADDRINFO_CALL);
         return HasReturnvaluesIF::RETURN_FAILED;
@@ -105,7 +115,7 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
 
     // Listen for connection requests permanently for lifetime of program
     while(true) {
-        retval = listen(listenerTcpSocket, tcpBacklog);
+        retval = listen(listenerTcpSocket, tcpConfig.tcpBacklog);
         if(retval == SOCKET_ERROR) {
             handleError(Protocol::TCP, ErrorSources::LISTEN_CALL, 500);
             continue;
@@ -123,11 +133,12 @@ ReturnValue_t TcpTmTcServer::performOperation(uint8_t opCode) {
         handleServerOperation(connSocket);
 
         // Done, shut down connection and go back to listening for client requests
-        retval = shutdown(connSocket, SHUT_SEND);
+        retval = shutdown(connSocket, SHUT_BOTH);
         if(retval != 0) {
             handleError(Protocol::TCP, ErrorSources::SHUTDOWN_CALL);
         }
         closeSocket(connSocket);
+        connSocket = 0;
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
@@ -144,41 +155,88 @@ ReturnValue_t TcpTmTcServer::initializeAfterTaskCreation() {
     return HasReturnvaluesIF::RETURN_OK;
 }
 
-void TcpTmTcServer::handleServerOperation(socket_t connSocket) {
+void TcpTmTcServer::handleServerOperation(socket_t& connSocket) {
-    int retval = 0;
+#if defined PLATFORM_WIN
-    do {
+    setSocketNonBlocking(connSocket);
-        // Read all telecommands sent by the client
+#endif
-        retval = recv(connSocket,
+
+    while (true) {
+        int retval = recv(
+                connSocket,
                 reinterpret_cast<char*>(receptionBuffer.data()),
                 receptionBuffer.capacity(),
-                tcpFlags);
+                tcpConfig.tcpFlags
-        if (retval > 0) {
+        );
-            handleTcReception(retval);
+        if(retval == 0) {
+            size_t availableReadData = ringBuffer.getAvailableReadData();
+            if(availableReadData > lastRingBufferSize) {
+                handleTcRingBufferData(availableReadData);
+            }
+            return;
+        }
+        else if(retval > 0) {
+            // The ring buffer was configured for overwrite, so the returnvalue does not need to
+            // be checked for now
+            ringBuffer.writeData(receptionBuffer.data(), retval);
+        }
+        else if(retval < 0)  {
+            int errorValue = getLastSocketError();
+#if defined PLATFORM_UNIX
+            int wouldBlockValue = EAGAIN;
+#elif defined PLATFORM_WIN
+            int wouldBlockValue = WSAEWOULDBLOCK;
+#endif
+            if(errorValue == wouldBlockValue) {
+                // No data available. Check whether any packets have been read, then send back
+                // telemetry if available
+                bool tcAvailable = false;
+                bool tmSent = false;
+                size_t availableReadData = ringBuffer.getAvailableReadData();
+                if(availableReadData > lastRingBufferSize) {
+                    tcAvailable = true;
+                    handleTcRingBufferData(availableReadData);
+                }
+                ReturnValue_t result = handleTmSending(connSocket, tmSent);
+                if(result == CONN_BROKEN) {
+                    return;
+                }
+                if(not tcAvailable and not tmSent) {
+                    TaskFactory::delayTask(tcpConfig.tcpLoopDelay);
                 }
-        else if(retval == 0) {
-            // Client has finished sending telecommands, send telemetry now
-            handleTmSending(connSocket);
             }
             else {
-            // Should not happen
+                tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL, 300);
-            tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::RECV_CALL);
+            }
+        }
     }
-    } while(retval > 0);
 }
 
-ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
+ReturnValue_t TcpTmTcServer::handleTcReception(uint8_t* spacePacket, size_t packetSize) {
-#if FSFW_TCP_RECV_WIRETAPPING_ENABLED == 1
+    if(wiretappingEnabled) {
-    arrayprinter::print(receptionBuffer.data(), bytesRead);
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::info << "Received TC:" << std::endl;
+#else
+        sif::printInfo("Received TC:\n");
 #endif
+        arrayprinter::print(spacePacket, packetSize);
+    }
+
+    if(spacePacket == nullptr or packetSize == 0) {
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
     store_address_t storeId;
-    ReturnValue_t result = tcStore->addData(&storeId, receptionBuffer.data(), bytesRecvd);
+    ReturnValue_t result = tcStore->addData(&storeId, spacePacket, packetSize);
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning<< "TcpTmTcServer::handleServerOperation: Data storage failed." << std::endl;
+        sif::warning << "TcpTmTcServer::handleServerOperation: Data storage with packet size" <<
-        sif::warning << "Packet size: " << bytesRecvd << std::endl;
+                packetSize << " failed" << std::endl;
+#else
+        sif::printWarning("TcpTmTcServer::handleServerOperation: Data storage with packet size %d "
+                "failed\n", packetSize);
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
+        return result;
     }
 
     TmTcMessage message(storeId);
@@ -187,8 +245,11 @@ ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
     if (result != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-        sif::warning << "UdpTcPollingTask::handleSuccessfullTcRead: "
+        sif::warning << "TcpTmTcServer::handleServerOperation: "
                 " Sending message to queue failed" << std::endl;
+#else
+        sif::printWarning("TcpTmTcServer::handleServerOperation: "
+                " Sending message to queue failed\n");
 #endif /* FSFW_CPP_OSTREAM_ENABLED == 1 */
 #endif /* FSFW_VERBOSE_LEVEL >= 1 */
         tcStore->deleteData(storeId);
@@ -196,21 +257,26 @@ ReturnValue_t TcpTmTcServer::handleTcReception(size_t bytesRecvd) {
     return result;
 }
 
-void TcpTmTcServer::setTcpBacklog(uint8_t tcpBacklog) {
-    this->tcpBacklog = tcpBacklog;
-}
-
 std::string TcpTmTcServer::getTcpPort() const {
-    return tcpPort;
+    return tcpConfig.tcpPort;
 }
 
-ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
+void TcpTmTcServer::setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds) {
+    this->validPacketIds = validPacketIds;
+}
+
+TcpTmTcServer::TcpConfig& TcpTmTcServer::getTcpConfigStruct() {
+    return tcpConfig;
+}
+
+ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket, bool& tmSent) {
     // Access to the FIFO is mutex protected because it is filled by the bridge
     MutexGuard(tmtcBridge->mutex, tmtcBridge->timeoutType, tmtcBridge->mutexTimeoutMs);
     store_address_t storeId;
     while((not tmtcBridge->tmFifo->empty()) and
             (tmtcBridge->packetSentCounter < tmtcBridge->sentPacketsPerCycle)) {
-        tmtcBridge->tmFifo->retrieve(&storeId);
+        // Send can fail, so only peek from the FIFO
+        tmtcBridge->tmFifo->peek(&storeId);
 
         // Using the store accessor will take care of deleting TM from the store automatically
         ConstStorageAccessor storeAccessor(storeId);
@@ -218,13 +284,134 @@ ReturnValue_t TcpTmTcServer::handleTmSending(socket_t connSocket) {
         if(result != HasReturnvaluesIF::RETURN_OK) {
             return result;
         }
+        if(wiretappingEnabled) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+            sif::info << "Sending TM:" << std::endl;
+#else
+            sif::printInfo("Sending TM:\n");
+#endif
+            arrayprinter::print(storeAccessor.data(), storeAccessor.size());
+        }
         int retval = send(connSocket,
                 reinterpret_cast<const char*>(storeAccessor.data()),
                 storeAccessor.size(),
-                tcpTmFlags);
+                tcpConfig.tcpTmFlags);
-        if(retval != static_cast<int>(storeAccessor.size())) {
+        if(retval == static_cast<int>(storeAccessor.size())) {
-            tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL);
+            // Packet sent, clear FIFO entry
+            tmtcBridge->tmFifo->pop();
+            tmSent = true;
+
+        }
+        else if(retval <= 0) {
+            // Assume that the client has closed the connection here for now
+            handleSocketError(storeAccessor);
+            return CONN_BROKEN;
         }
     }
     return HasReturnvaluesIF::RETURN_OK;
 }
+
+ReturnValue_t TcpTmTcServer::handleTcRingBufferData(size_t availableReadData) {
+    ReturnValue_t status = HasReturnvaluesIF::RETURN_OK;
+    ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+    size_t readAmount = availableReadData;
+    lastRingBufferSize = availableReadData;
+    if(readAmount >= ringBuffer.getMaxSize()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        // Possible configuration error, too much data or/and data coming in too fast,
+        // requiring larger buffers
+        sif::warning << "TcpTmTcServer::handleServerOperation: Ring buffer reached " <<
+                "fill count" << std::endl;
+#else
+        sif::printWarning("TcpTmTcServer::handleServerOperation: Ring buffer reached "
+                "fill count");
+#endif
+#endif
+    }
+    if(readAmount >= receptionBuffer.size()) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        // Possible configuration error, too much data or/and data coming in too fast,
+        // requiring larger buffers
+        sif::warning << "TcpTmTcServer::handleServerOperation: "
+                "Reception buffer too small " << std::endl;
+#else
+        sif::printWarning("TcpTmTcServer::handleServerOperation: Reception buffer too small\n");
+#endif
+#endif
+        readAmount = receptionBuffer.size();
+    }
+    ringBuffer.readData(receptionBuffer.data(), readAmount, true);
+    const uint8_t* bufPtr = receptionBuffer.data();
+    const uint8_t** bufPtrPtr = &bufPtr;
+    size_t startIdx = 0;
+    size_t foundSize = 0;
+    size_t readLen = 0;
+    while(readLen < readAmount) {
+        result = spacePacketParser->parseSpacePackets(bufPtrPtr, readAmount,
+                startIdx, foundSize, readLen);
+        switch(result) {
+        case(SpacePacketParser::NO_PACKET_FOUND):
+        case(SpacePacketParser::SPLIT_PACKET): {
+            break;
+        }
+        case(HasReturnvaluesIF::RETURN_OK): {
+            result = handleTcReception(receptionBuffer.data() + startIdx, foundSize);
+            if(result != HasReturnvaluesIF::RETURN_OK) {
+                status = result;
+            }
+        }
+        }
+        ringBuffer.deleteData(foundSize);
+        lastRingBufferSize = ringBuffer.getAvailableReadData();
+        std::memset(receptionBuffer.data() + startIdx, 0, foundSize);
+    }
+    return status;
+}
+
+void TcpTmTcServer::enableWiretapping(bool enable) {
+    this->wiretappingEnabled = enable;
+}
+
+void TcpTmTcServer::handleSocketError(ConstStorageAccessor &accessor) {
+    // Don't delete data
+    accessor.release();
+    auto socketError = getLastSocketError();
+    switch(socketError) {
+#if defined PLATFORM_WIN
+    case(WSAECONNRESET): {
+        // See https://docs.microsoft.com/en-us/windows/win32/api/winsock2/nf-winsock2-send
+        // Remote client might have shut down connection
+        return;
+    }
+#else
+    case(EPIPE): {
+        // See https://man7.org/linux/man-pages/man2/send.2.html
+        // Remote client might have shut down connection
+        return;
+    }
+#endif
+    default: {
+        tcpip::handleError(tcpip::Protocol::TCP, tcpip::ErrorSources::SEND_CALL);
+    }
+    }
+}
+
+#if defined PLATFORM_WIN
+void TcpTmTcServer::setSocketNonBlocking(socket_t &connSocket) {
+    u_long iMode = 1;
+    int iResult = ioctlsocket(connSocket, FIONBIO, &iMode);
+    if(iResult != NO_ERROR) {
+#if FSFW_VERBOSE_LEVEL >= 1
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "TcpTmTcServer::handleServerOperation: Setting socket"
+                " non-blocking failed with error " << iResult;
+#else
+        sif::printWarning("TcpTmTcServer::handleServerOperation: Setting socket"
+                " non-blocking failed with error %d\n", iResult);
+#endif
+#endif
+    }
+}
+#endif

src/fsfw/osal/common/TcpTmTcServer.h

@@ -6,6 +6,7 @@
 #include "fsfw/platform.h"
 #include "fsfw/osal/common/tcpipHelpers.h"
 #include "fsfw/ipc/messageQueueDefinitions.h"
+#include "fsfw/container/SimpleRingBuffer.h"
 #include "fsfw/ipc/MessageQueueIF.h"
 #include "fsfw/objectmanager/frameworkObjects.h"
 #include "fsfw/objectmanager/SystemObject.h"
@@ -20,6 +21,7 @@
 #include <vector>
 
 class TcpTmTcBridge;
+class SpacePacketParser;
 
 /**
  * @brief   TCP server implementation
@@ -42,9 +44,38 @@ class TcpTmTcServer:
         public TcpIpBase,
         public ExecutableObjectIF {
 public:
+    enum class ReceptionModes {
+        SPACE_PACKETS
+    };
+
+    struct TcpConfig {
+    public:
+        TcpConfig(std::string tcpPort): tcpPort(tcpPort) {}
+
+        /**
+         * Passed to the recv call
+         */
+        int tcpFlags = 0;
+        int tcpBacklog = 3;
+
+        /**
+         * If no telecommands packets are being received and no telemetry is being sent,
+         * the TCP server will delay periodically by this amount to decrease the CPU load
+         */
+        uint32_t tcpLoopDelay = DEFAULT_LOOP_DELAY_MS ;
+        /**
+         * Passed to the send call
+         */
+        int tcpTmFlags = 0;
+
+        const std::string tcpPort;
+    };
+
     static const std::string DEFAULT_SERVER_PORT;
 
     static constexpr size_t ETHERNET_MTU_SIZE = 1500;
+    static constexpr size_t RING_BUFFER_SIZE = ETHERNET_MTU_SIZE * 3;
+    static constexpr uint32_t DEFAULT_LOOP_DELAY_MS = 200;
 
     /**
      * TCP Server Constructor
@@ -55,11 +86,21 @@ public:
      * @param customTcpServerPort   The user can specify another port than the default (7301) here.
      */
     TcpTmTcServer(object_id_t objectId, object_id_t tmtcTcpBridge,
-            size_t receptionBufferSize = ETHERNET_MTU_SIZE + 1,
+            size_t receptionBufferSize = RING_BUFFER_SIZE,
-            std::string customTcpServerPort = "");
+            size_t ringBufferSize = RING_BUFFER_SIZE,
+            std::string customTcpServerPort = DEFAULT_SERVER_PORT,
+            ReceptionModes receptionMode = ReceptionModes::SPACE_PACKETS);
     virtual~ TcpTmTcServer();
 
-    void setTcpBacklog(uint8_t tcpBacklog);
+    void enableWiretapping(bool enable);
+
+    /**
+     * Get a handle to the TCP configuration struct, which can be used to configure TCP
+     * properties
+     * @return
+     */
+    TcpConfig& getTcpConfigStruct();
+    void setSpacePacketParsingOptions(std::vector<uint16_t> validPacketIds);
 
     ReturnValue_t initialize() override;
     ReturnValue_t performOperation(uint8_t opCode) override;
@@ -71,25 +112,33 @@ protected:
     StorageManagerIF* tcStore = nullptr;
     StorageManagerIF* tmStore = nullptr;
 private:
+    static constexpr ReturnValue_t CONN_BROKEN = HasReturnvaluesIF::makeReturnCode(1, 0);
     //! TMTC bridge is cached.
     object_id_t tmtcBridgeId = objects::NO_OBJECT;
     TcpTmTcBridge* tmtcBridge = nullptr;
+    bool wiretappingEnabled = false;
 
-    std::string tcpPort;
+    ReceptionModes receptionMode;
-    int tcpFlags = 0;
+    TcpConfig tcpConfig;
-    socket_t listenerTcpSocket = 0;
     struct sockaddr tcpAddress;
+    socket_t listenerTcpSocket = 0;
+
     MessageQueueId_t targetTcDestination = MessageQueueIF::NO_QUEUE;
-    int tcpAddrLen = sizeof(tcpAddress);
-    int tcpBacklog = 3;
 
     std::vector<uint8_t> receptionBuffer;
-    int tcpSockOpt = 0;
+    SimpleRingBuffer ringBuffer;
-    int tcpTmFlags = 0;
+    std::vector<uint16_t> validPacketIds;
+    SpacePacketParser* spacePacketParser = nullptr;
+    uint8_t lastRingBufferSize = 0;
 
-    void handleServerOperation(socket_t connSocket);
+    virtual void handleServerOperation(socket_t& connSocket);
-    ReturnValue_t handleTcReception(size_t bytesRecvd);
+    ReturnValue_t handleTcReception(uint8_t* spacePacket, size_t packetSize);
-    ReturnValue_t handleTmSending(socket_t connSocket);
+    ReturnValue_t handleTmSending(socket_t connSocket, bool& tmSent);
+    ReturnValue_t handleTcRingBufferData(size_t availableReadData);
+    void handleSocketError(ConstStorageAccessor& accessor);
+#if defined PLATFORM_WIN
+    void setSocketNonBlocking(socket_t& connSocket);
+#endif
 };
 
 #endif /* FSFW_OSAL_COMMON_TCP_TMTC_SERVER_H_ */

src/fsfw/osal/common/tcpipCommon.cpp

@@ -21,6 +21,9 @@ void tcpip::determineErrorStrings(Protocol protocol, ErrorSources errorSrc, std:
     if(errorSrc == ErrorSources::SETSOCKOPT_CALL) {
         srcString = "setsockopt call";
     }
+    if(errorSrc == ErrorSources::BIND_CALL) {
+        srcString = "bind call";
+    }
     else if(errorSrc == ErrorSources::SOCKET_CALL) {
         srcString = "socket call";
     }

src/fsfw/osal/linux/CMakeLists.txt

@@ -1,5 +1,4 @@
-target_sources(${LIB_FSFW_NAME} 
+target_sources(${LIB_FSFW_NAME} PRIVATE
-	PRIVATE 
     Clock.cpp
 	BinarySemaphore.cpp
 	CountingSemaphore.cpp

src/fsfw/osal/linux/MessageQueue.cpp

@@ -285,10 +285,10 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 
             utility::printUnixErrorGeneric(CLASS_NAME, "sendMessageFromMessageQueue", "EBADF");
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::warning << "mq_send to: " << sendTo << " sent from "
+            sif::warning << "mq_send to " << sendTo << " sent from "
                     << sentFrom << " failed" << std::endl;
 #else
-            sif::printWarning("mq_send to: %d sent from %d failed\n", sendTo, sentFrom);
+            sif::printWarning("mq_send to %d sent from %d failed\n", sendTo, sentFrom);
 #endif
             return DESTINATION_INVALID;
         }

src/fsfw/returnvalues/FwClassIds.h

@@ -80,6 +80,7 @@ enum: uint8_t {
     FIXED_SLOT_TASK_IF, //FTIF
     MGM_LIS3MDL, //MGMLIS3
     MGM_RM3100, //MGMRM3100
+    SPACE_PACKET_PARSER, //SPPA
     FW_CLASS_ID_COUNT // [EXPORT] : [END]
 
 };

src/fsfw/subsystem/SubsystemBase.h

@@ -62,7 +62,8 @@ protected:
 	struct ChildInfo {
 		MessageQueueId_t commandQueue;
 		Mode_t mode;
-		Submode_t submode;bool healthChanged;
+		Submode_t submode;
+		bool healthChanged;
 	};
 
 	Mode_t mode;

src/fsfw/tcdistribution/PUSDistributor.cpp

@@ -29,12 +29,31 @@ PUSDistributor::TcMqMapIter PUSDistributor::selectDestination() {
         tcStatus = checker.checkPacket(currentPacket);
         if(tcStatus != HasReturnvaluesIF::RETURN_OK) {
 #if FSFW_VERBOSE_LEVEL >= 1
+            std::string keyword;
+            if(tcStatus == TcPacketCheck::INCORRECT_CHECKSUM) {
+                keyword = "checksum";
+            }
+            else if(tcStatus == TcPacketCheck::INCORRECT_PRIMARY_HEADER) {
+                keyword = "incorrect primary header";
+            }
+            else if(tcStatus == TcPacketCheck::ILLEGAL_APID) {
+                keyword = "illegal APID";
+            }
+            else if(tcStatus == TcPacketCheck::INCORRECT_SECONDARY_HEADER) {
+                keyword = "incorrect secondary header";
+            }
+            else if(tcStatus == TcPacketCheck::INCOMPLETE_PACKET) {
+                keyword = "incomplete packet";
+            }
+            else {
+                keyword = "unnamed error";
+            }
 #if FSFW_CPP_OSTREAM_ENABLED == 1
-            sif::debug << "PUSDistributor::handlePacket: Packet format invalid, code " <<
+            sif::warning << "PUSDistributor::handlePacket: Packet format invalid, "
-                    static_cast<int>(tcStatus) << std::endl;
+                    << keyword << " error" << std::endl;
 #else
-            sif::printDebug("PUSDistributor::handlePacket: Packet format invalid, code %d\n",
+            sif::printWarning("PUSDistributor::handlePacket: Packet format invalid, "
-                    static_cast<int>(tcStatus));
+                    "%s error\n", keyword);
 #endif
 #endif
         }

src/fsfw/tmtcpacket/SpacePacket.h

@@ -40,6 +40,7 @@ public:
      * 			@li \c false else.
      */
     bool addWholeData(const uint8_t* p_data, uint32_t packet_size);
+
 protected:
     /**
      * This structure defines the data structure of a Space Packet as local data.
@@ -68,4 +69,16 @@ protected:
     SpacePacketData localData;
 };
 
+namespace spacepacket {
+
+constexpr uint16_t getTcSpacePacketIdFromApid(uint16_t apid) {
+    return (0x18 << 8) | (((apid >> 8) & 0x07) << 8) | (apid & 0x00ff);
+}
+
+constexpr uint16_t getTmSpacePacketIdFromApid(uint16_t apid) {
+    return (0x08 << 8) | (((apid >> 8) & 0x07) << 8) | (apid & 0x00ff);
+}
+
+}
+
 #endif /* SPACEPACKET_H_ */

src/fsfw/tmtcservices/CMakeLists.txt

@@ -6,4 +6,5 @@ target_sources(${LIB_FSFW_NAME}
 		TmTcBridge.cpp
 		TmTcMessage.cpp
 		VerificationReporter.cpp
+		SpacePacketParser.cpp
 )

src/fsfw/tmtcservices/SpacePacketParser.cpp

@@ -0,0 +1,77 @@
+#include <fsfw/serviceinterface/ServiceInterface.h>
+#include <fsfw/tmtcservices/SpacePacketParser.h>
+#include <algorithm>
+
+SpacePacketParser::SpacePacketParser(std::vector<uint16_t> validPacketIds):
+        validPacketIds(validPacketIds) {
+}
+
+ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t *buffer,
+        const size_t maxSize, size_t& startIndex, size_t& foundSize) {
+    const uint8_t** tempPtr = &buffer;
+    size_t readLen = 0;
+    return parseSpacePackets(tempPtr, maxSize, startIndex, foundSize, readLen);
+}
+
+ReturnValue_t SpacePacketParser::parseSpacePackets(const uint8_t **buffer, const size_t maxSize,
+        size_t &startIndex, size_t &foundSize, size_t& readLen) {
+    if(buffer == nullptr or maxSize < 5) {
+#if FSFW_CPP_OSTREAM_ENABLED == 1
+        sif::warning << "SpacePacketParser::parseSpacePackets: Frame invalid" << std::endl;
+#else
+        sif::printWarning("SpacePacketParser::parseSpacePackets: Frame invalid\n");
+#endif
+        return HasReturnvaluesIF::RETURN_FAILED;
+    }
+    const uint8_t* bufPtr = *buffer;
+
+    auto verifyLengthField = [&](size_t idx) {
+        uint16_t lengthField = bufPtr[idx + 4] << 8 | bufPtr[idx + 5];
+        size_t packetSize = lengthField + 7;
+        startIndex = idx;
+        ReturnValue_t result = HasReturnvaluesIF::RETURN_OK;
+        if(lengthField == 0) {
+            // Skip whole header for now
+            foundSize = 6;
+            result = NO_PACKET_FOUND;
+        }
+        else if(packetSize + idx > maxSize) {
+            // Don't increment buffer and read length here, user has to decide what to do
+            foundSize = packetSize;
+            return SPLIT_PACKET;
+        }
+        else {
+            foundSize = packetSize;
+        }
+        *buffer += foundSize;
+        readLen += idx + foundSize;
+        return result;
+    };
+
+    size_t idx = 0;
+    // Space packet ID as start marker
+    if(validPacketIds.size() > 0) {
+        while(idx < maxSize - 5) {
+            uint16_t currentPacketId = bufPtr[idx] << 8 | bufPtr[idx + 1];
+            if(std::find(validPacketIds.begin(), validPacketIds.end(), currentPacketId) !=
+                    validPacketIds.end()) {
+                if(idx + 5 >= maxSize) {
+                    return SPLIT_PACKET;
+                }
+                return verifyLengthField(idx);
+            }
+            else {
+                idx++;
+            }
+        }
+        startIndex = 0;
+        foundSize = maxSize;
+        *buffer += foundSize;
+        readLen += foundSize;
+        return NO_PACKET_FOUND;
+    }
+    // Assume that the user verified a valid start of a space packet
+    else {
+        return verifyLengthField(idx);
+    }
+}

src/fsfw/tmtcservices/SpacePacketParser.h

@@ -0,0 +1,78 @@
+#ifndef FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
+#define FRAMEWORK_TMTCSERVICES_PUSPARSER_H_
+
+#include "fsfw/container/DynamicFIFO.h"
+#include "fsfw/returnvalues/FwClassIds.h"
+
+#include <utility>
+#include <cstdint>
+
+/**
+ * @brief	This small helper class scans a given buffer for space packets.
+ * 			Can be used if space packets are serialized in a tightly packed frame.
+ * @details
+ * The parser uses the length field field and the 16-bit TC packet ID of the space packets to find
+ * find space packets in a given data stream
+ * @author   R. Mueller
+ */
+class SpacePacketParser {
+public:
+	//! The first entry is the index inside the buffer while the second index
+	//! is the size of the PUS packet starting at that index.
+	using IndexSizePair = std::pair<size_t, size_t>;
+
+	static constexpr uint8_t INTERFACE_ID = CLASS_ID::SPACE_PACKET_PARSER;
+	static constexpr ReturnValue_t NO_PACKET_FOUND = MAKE_RETURN_CODE(0x00);
+	static constexpr ReturnValue_t SPLIT_PACKET = MAKE_RETURN_CODE(0x01);
+
+	/**
+	 * @brief   Parser constructor.
+	 * @param validPacketIds    This vector contains the allowed 16-bit TC packet ID start markers
+	 * The parser will search for these stark markers to detect the start of a space packet.
+	 * It is also possible to pass an empty vector here, but this is not recommended.
+	 * If an empty vector is passed, the parser will assume that the start of the given stream
+	 * contains the start of a new space packet.
+	 */
+	SpacePacketParser(std::vector<uint16_t> validPacketIds);
+
+    /**
+     * Parse a given frame for space packets but also increment the given buffer and assign the
+     * total number of bytes read so far
+     * @param buffer        Parser will look for space packets in this buffer
+     * @param maxSize       Maximum size of the buffer
+     * @param startIndex    Start index of a found space packet
+     * @param foundSize     Found size of the space packet
+     * @param readLen       Length read so far. This value is incremented by the number of parsed
+     *                      bytes which also includes the size of a found packet
+     *  -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
+     *      invalid. foundSize will be set to the size of the space packet header. buffer and
+     *      readLen will be incremented accordingly.
+     *  -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
+     *      will be set to the detected packet size and startIndex will be set to the start of the
+     *      detected packet. buffer and read length will not be incremented but the found length
+     *      will be assigned.
+     *  -@c RETURN_OK if a packet was found
+     */
+    ReturnValue_t parseSpacePackets(const uint8_t **buffer, const size_t maxSize,
+            size_t& startIndex, size_t& foundSize, size_t& readLen);
+
+	/**
+	 * Parse a given frame for space packets
+	 * @param buffer        Parser will look for space packets in this buffer
+	 * @param maxSize       Maximum size of the buffer
+	 * @param startIndex    Start index of a found space packet
+	 * @param foundSize     Found size of the space packet
+	 *  -@c NO_PACKET_FOUND if no packet was found in the given buffer or the length field is
+	 *      invalid. foundSize will be set to the size of the space packet header
+	 *  -@c SPLIT_PACKET if a packet was found but the detected size exceeds maxSize. foundSize
+	 *      will be set to the detected packet size and startIndex will be set to the start of the
+	 *      detected packet
+	 *  -@c RETURN_OK if a packet was found
+	 */
+	ReturnValue_t parseSpacePackets(const uint8_t* buffer, const size_t maxSize,
+	        size_t& startIndex, size_t& foundSize);
+private:
+	std::vector<uint16_t> validPacketIds;
+};
+
+#endif /* FRAMEWORK_TMTCSERVICES_PUSPARSER_H_ */

tests/user/testcfg/CMakeLists.txt

@@ -1,11 +1,9 @@
-target_sources(${TARGET_NAME} 
+target_sources(${TARGET_NAME} PRIVATE
-	PRIVATE
     ipc/MissionMessageTypes.cpp
     pollingsequence/PollingSequenceFactory.cpp
 )
 
 # Add include paths for the executable
-target_include_directories(${TARGET_NAME} 
+target_include_directories(${TARGET_NAME} PUBLIC
-	PUBLIC 
     ${CMAKE_CURRENT_SOURCE_DIR}
 )